README.md

Quadcopter

The quad/ directory contains all code that programs the quadcopter. This includes any C libraries we have written, any HDL to program the Zybo on the quad, and the XSDK main project that runs on the Zybo.

Documents

Zybo Pinout Assignments
How to use Xilinx software tools

Software Instructions

The main quad application is written as a library, and located at src/quad_app/ ("main" function in quad_app.c).

The main XSDK project that actually runs on the Zybo is located at xsdk_workspace/real_quad/

We also have a complemetary "virtual quad" to ease testing located at src/virt_quad/

Building

To build the libraries:

make

You can also build each library individually inside their respective project directories:

cd src/<project> && make

To build the XSDK project, use the XSDK IDE. Source the proper XSDK files, and then start up the XSDK IDE. Be sure to select the xsdk_workspace directory in the quad directory as your "workspace":

source /opt/Xilinx/14.7/ISE_DS/settings64.sh
xsdk &

Testing

Write tests! It makes automating things so much easier.

Run the unit and functional tests:

make test

You can also run the test for a specific library inside its respective project directory:

cd src/<project> && make test

Manually testing the hardware interface

Of course, we cannot run our automated tests on code that needs the Zybo. But we have manual tests that you can use to test each specific driver in the hardware interface.

Look in xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c for instructions. Ideally, you would run these tests from the XSDK IDE.

XSDK FYIs

The XIlinx SDK has a few quirks that are important to watch out for:

1. From the documentation, if you abort program execution while at a breakpoint inside an interrupt handler, when re-running the program, interrupts don’t fire. You have to do a hard reset of the board (cycle power) to have interrupts work again.
2. After doing a git pull, refresh the files by right-clicking on the project in the sidebar and clicking "Refresh"
3. The project does not detect changes in header files, so if you modify a .h file, you should do a clean before building, otherwise you may experience unexpected behavior.

Quad Stats

Optical flow sensor is offset by 35.64 degrees.